cmake_minimum_required(VERSION 3.8)
project(g1_velpub_bridge)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

# unitree_sdk2 C++(与 robomimic 相同路径约定: 默认 ~/project/unitree_sdk2)
set(UNITREE_SDK2_DIR "$ENV{HOME}/project/unitree_sdk2" CACHE PATH "unitree_sdk2 C++ 根目录")
include_directories(
  ${UNITREE_SDK2_DIR}/include
  ${UNITREE_SDK2_DIR}/thirdparty/include
  ${UNITREE_SDK2_DIR}/thirdparty/include/ddscxx
  ${UNITREE_SDK2_DIR}/thirdparty/include/ddsc
)
link_directories(
  ${UNITREE_SDK2_DIR}/lib/aarch64
  ${UNITREE_SDK2_DIR}/thirdparty/lib/aarch64
)

add_executable(g1_velpub_bridge_node src/bridge_node.cpp)
ament_target_dependencies(g1_velpub_bridge_node rclcpp std_msgs geometry_msgs)
target_link_libraries(g1_velpub_bridge_node unitree_sdk2 ddscxx ddsc)

install(TARGETS g1_velpub_bridge_node DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

ament_package()